Add yaml calibration files and fix MI alternative

M_monado_datasets/MG_reverb_g2/extras/calibration.kb4.yaml

@@ -0,0 +1,41 @@
+cameras:
+  - T_SC: [0.04055350310199557, -0.9851041005556703, -0.16710872046234024, -0.05196080462004912,
+      0.9627130947171906, -0.006246607611898214, 0.27045235653141, 0.012921625094644514,
+      -0.26746758802929066, -0.171845543910068, 0.9481192954433776, 0.005240475947910249,
+      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
+    distortion_coefficients: [0.07740441885450418, -0.03103032519111291, 0.21761591799757782,
+      -0.12578545205590586] # k1, k2, k3, k4
+    distortion_type: equidistant # kannalabrandt4 / opencv's fisheye
+    focal_length: [270.00664609453304, 270.1414755298674] # fx, fy
+    image_dimension: [640, 480] # width, height
+    principal_point: [322.8697163592805, 229.1840515489695] # cx, cy
+  - T_SC: [-0.06007095160468545, -0.9842799456945921, 0.16608572869683613, 0.056452911416210484,
+      0.9630664766090835, -0.013397454828578126, 0.26893023228317525, 0.013648961551033324,
+      -0.2624775083794303, 0.17610649251963353, 0.9487318171577039, 0.005147807609210512,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.07780133707201584, -0.037783242929474714, 0.22709046369187205,
+      -0.12945961303597922]
+    distortion_type: equidistant
+    focal_length: [268.8394814458395, 268.84629644420227]
+    image_dimension: [640, 480]
+    principal_point: [323.9062256755635, 236.5703052123074]
+  - T_SC: [-0.0481455006833964, 0.053414751022077434, -0.9974110863316061, -0.07567766184475654,
+      -0.9623303838132407, 0.2650327350576651, 0.0606455417793787, 0.014551169361842342,
+      0.2675859547020471, 0.9627588035022598, 0.03864250412552328, -0.029493463003218253,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.07632323665413357, -0.03809674852985118, 0.22440009795691718,
+      -0.12797229712624544]
+    distortion_type: equidistant
+    focal_length: [270.95365666855855, 270.95671244010697]
+    image_dimension: [640, 480]
+    principal_point: [324.31540159952465, 230.97000626471197]
+  - T_SC: [0.061023690109066636, 0.06827726099642412, 0.9957983354456361, 0.08070843831337933,
+      -0.9620042841219845, -0.261976712078782, 0.07691527585167768, 0.01646113292588715,
+      0.2661275381775086, -0.9626559187784688, 0.04969623189298711, -0.029373209824573407,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.0782633771118353, -0.032692565978959115, 0.21570483960998454,
+      -0.12346477625478411]
+    distortion_type: equidistant
+    focal_length: [269.1240639577031, 269.61259675615105]
+    image_dimension: [640, 480]
+    principal_point: [320.31028884237986, 232.07799800942055]

M_monado_datasets/MG_reverb_g2/extras/calibration.yaml

@@ -0,0 +1,45 @@
+cameras:
+  - T_SC: [0.04064854009491342, -0.9850960390247252, -0.16713315076893012, -0.05195440637617857,
+      0.9639580399507583, -0.005353797389843817, 0.2660004399767062, 0.012655050280492696,
+      -0.26293077682623045, -0.17192187397567016, 0.9493736228936684, 0.005695776071192284,
+      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
+    distortion_coefficients: [0.30219806837496743, -0.02149991534580404, -0.0002497397372516134,
+      6.0560040605677345e-05, 0.01581679697554863, 0.5750558896824219, -0.06263534784491315,
+      0.033851495423692875] # k1, k2, p1, p2, k3, k4, k5, k6
+    distortion_type: radialtangential8 # Same as opencv's default model
+    focal_length: [269.6842474086801, 269.7882977693903] # fx, fy
+    image_dimension: [640, 480] # width, height
+    principal_point: [322.5578605887897, 228.87319994407375] # cx, cy
+  - T_SC: [-0.0599848995239452, -0.9845511162145, 0.16450201029131717, 0.05645131964241192,
+      0.9646370462558942, -0.014800992811683733, 0.2631659164908946, 0.013367520829980857,
+      -0.2566655037588928, 0.17447071436940617, 0.9506223166997623, 0.005817523980411749,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.5583172692824788, 0.5318767353683427, -4.8499786577281645e-05,
+      -0.00010215399449113709, 0.008892983151449383, 0.8224870747364966, 0.5989619132003846,
+      0.08178414100136008]
+    distortion_type: radialtangential8
+    focal_length: [268.32364529421596, 268.36616184269246]
+    image_dimension: [640, 480]
+    principal_point: [323.18415014901007, 236.88768983819338]
+  - T_SC: [-0.04684095792433285, 0.058286940283299005, -0.9972003596334802, -0.0757213665829658,
+      -0.9623623504515357, 0.2649068023771114, 0.06068848727501508, 0.014530127422240255,
+      0.26770250483349334, 0.9625107888469331, 0.04368466846764807, -0.02939269417912614,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.16062287804829353, -0.4619920253125824, -0.00012181822302338947,
+      5.581807266350449e-05, 0.025766025600398968, 0.4509012125456936, -0.5875401333907265,
+      0.0029609360409961895]
+    distortion_type: radialtangential8
+    focal_length: [271.6135146149873, 271.7305409932087]
+    image_dimension: [640, 480]
+    principal_point: [324.4789443570868, 231.32161458022873]
+  - T_SC: [0.05458855286845413, 0.06773415129915167, 0.9962089011063451, 0.08047651761941818,
+      -0.9637221207286739, -0.25747910500683213, 0.07031489531463364, 0.01551428498347744,
+      0.2612656960145268, -0.9639069432433113, 0.051221488199587634, -0.030017654200964233,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.38103769826253503, 0.044423043182646844, -0.00026270579116007963,
+      -1.3307311696896182e-05, 0.0132763824239275, 0.6550968994941907, 0.025731031147632248,
+      0.03618845247232834]
+    distortion_type: radialtangential8
+    focal_length: [269.7435072920675, 270.0809356226911]
+    image_dimension: [640, 480]
+    principal_point: [320.2882102145453, 232.11989600745244]

M_monado_datasets/MI_valve_index/extras/calibration.rt8.json

@@ -1,59 +1,60 @@
 {
     "value0": {
+        "comment": "Current error: 120022 num_points 1069709 mean_error 0.1122 reprojection_error 254449 mean reprojection 0.237868 opt_time 668ms.",
         "T_imu_cam": [
             {
-                "px": 0.06917789156550716,
-                "py": 0.12085668743462545,
-                "pz": 0.012667308040189403,
-                "qx": -0.027421566937007797,
-                "qy": -0.02686199643159372,
-                "qz": -0.701091058937852,
-                "qw": 0.712037792460365
+                "px": 0.06891723980288252,
+                "py": 0.1194375162243693,
+                "pz": 0.010620914860482426,
+                "qx": -0.02758166378733051,
+                "qy": -0.02646124002133985,
+                "qz": -0.7010059967137265,
+                "qw": 0.7121303582706263
             },
             {
-                "px": 0.06906817063497312,
-                "py": -0.012925461789829002,
-                "pz": 0.013021838608092437,
-                "qx": 0.02073643582501064,
-                "qy": 0.033116560404689177,
-                "qz": -0.6986668218185062,
-                "qw": 0.7143794270177898
+                "px": 0.06878929687462956,
+                "py": -0.014242597915617127,
+                "pz": 0.010952250701108236,
+                "qx": 0.020761923661208216,
+                "qy": 0.03355827497125895,
+                "qz": -0.6985457695964845,
+                "qw": 0.7144764464177212
             }
         ],
         "intrinsics": [
             {
                 "camera_type": "pinhole-radtan8",
                 "intrinsics": {
-                    "fx": 420.52740656467929,
-                    "fy": 420.668449021409,
-                    "cx": 469.48259744072745,
-                    "cy": 479.1369038467134,
-                    "k1": 0.00033910941623906436,
-                    "k2": 0.0016526977059368436,
-                    "p1": 2.0382438109564118e-07,
-                    "p2": -1.9941820902364245e-07,
-                    "k3": 4.7690647490781044e-08,
-                    "k4": 0.08285582144993399,
-                    "k5": 0.007074083130056834,
-                    "k6": 1.2021299767958244e-05,
+                    "fx": 420.87543153743379,
+                    "fy": 420.98111734621696,
+                    "cx": 469.280769336615,
+                    "cy": 479.1008669368344,
+                    "k1": 20.391491525855697,
+                    "k2": 13.296376109798059,
+                    "p1": 0.0000033499524495992369,
+                    "p2": -0.00016905320907310926,
+                    "k3": 1.2827871067810053,
+                    "k4": 20.58288546853957,
+                    "k5": 15.718842380446703,
+                    "k6": 4.57076872023613,
                     "rpmax": -1
                 }
             },
             {
                 "camera_type": "pinhole-radtan8",
                 "intrinsics": {
-                    "fx": 421.23561386503076,
-                    "fy": 421.4668948188076,
-                    "cx": 467.746800268133,
-                    "cy": 484.4807401358835,
-                    "k1": 0.00010833706764279817,
-                    "k2": 0.0020852934669309585,
-                    "p1": 2.732762364402409e-07,
-                    "p2": -2.7121692029207587e-07,
-                    "k3": 8.00967425983354e-08,
-                    "k4": 0.08086045956434132,
-                    "k5": 0.008319953204836639,
-                    "k6": 1.5525470378559292e-05,
+                    "fx": 421.13049451321919,
+                    "fy": 421.1811382629241,
+                    "cx": 467.3993617404934,
+                    "cy": 484.2058878943831,
+                    "k1": 12.083665279916433,
+                    "k2": 8.328063289692406,
+                    "p1": 0.00013706577524923318,
+                    "p2": 0.00047216337967221625,
+                    "k3": 0.7803475118448734,
+                    "k4": 12.236473503288277,
+                    "k5": 9.749696702702666,
+                    "k6": 2.7934480578433704,
                     "rpmax": -1
                 }
             }
@@ -69,9 +70,9 @@
             ]
         ],
         "calib_accel_bias": [
-            0.0,
-            0.0,
-            0.0,
+            0.038267352254195387,
+            0.06598754869590935,
+            -0.2140022321800698,
             0.0,
             0.0,
             0.0,
@@ -80,9 +81,9 @@
             0.0
         ],
         "calib_gyro_bias": [
-            0.0,
-            0.0,
-            0.0,
+            0.01700459149920225,
+            -0.00739704767936778,
+            0.005460595880549354,
             0.0,
             0.0,
             0.0,

M_monado_datasets/MI_valve_index/extras/calibration.rt8.yaml

@@ -0,0 +1,23 @@
+cameras:
+  - T_SC: [0.015499520450221071, 0.9998798559060368, 0.0001965175227435778, 0.06917789156550716,
+      -0.9969334637731943, 0.01543876948824141, 0.07671579502208402, 0.12085668743462545,
+      0.07670354408366437, -0.001384972928440642, 0.9970529816288567, 0.012667308040189403,
+      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
+    distortion_coefficients: [0.00033910941623906436, 0.0016526977059368436, 2.0382438109564118e-07,
+      -1.9941820902364245e-07, 4.7690647490781044e-08, 0.08285582144993399, 0.007074083130056834,
+      1.2021299767958244e-05] # k1, k2, p1, p2, k3, k4, k5, k6
+    distortion_type: radialtangential8 # Same as opencv's default model
+    focal_length: [420.52740656467927, 420.668449021409] # fx, fy
+    image_dimension: [960, 960] # width, height
+    principal_point: [469.48259744072743, 479.1369038467134] # cx, cy
+  - T_SC: [0.021535931033980826, 0.9995998465532432, 0.018339859465996557, 0.06906817063497311,
+      -0.9968529688349355, 0.02286934463860607, -0.07590225030113408, -0.012925461789829002,
+      -0.07629129832081094, -0.016647517728884998, 0.9969465873124757, 0.013021838608092437,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.00010833706764279817, 0.0020852934669309585, 2.732762364402409e-07,
+      -2.7121692029207587e-07, 8.00967425983354e-08, 0.08086045956434132, 0.008319953204836639,
+      1.5525470378559292e-05]
+    distortion_type: radialtangential8
+    focal_length: [421.23561386503076, 421.4668948188076]
+    image_dimension: [960, 960]
+    principal_point: [467.746800268133, 484.4807401358835]

M_monado_datasets/MI_valve_index/extras/calibration.yaml

@@ -0,0 +1,19 @@
+cameras:
+  - T_SC: [0.015499520450221071, 0.9998798559060368, 0.0001965175227435778, 0.06917789156550716,
+      -0.9969334637731943, 0.01543876948824141, 0.07671579502208402, 0.12085668743462545,
+      0.07670354408366437, -0.001384972928440642, 0.9970529816288567, 0.012667308040189403,
+      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
+    distortion_coefficients: [0.19293820423427943, 0.04211519667505778, -0.2331148927645627, 0.09541027202996667] # k1, k2, k3, k4
+    distortion_type: equidistant # kannalabrandt4 / opencv's fisheye
+    focal_length: [420.52740656467927, 420.668449021409] # fx, fy
+    image_dimension: [960, 960] # width, height
+    principal_point: [469.48259744072743, 479.1369038467134] # cx, cy
+  - T_SC: [0.021535931033980826, 0.9995998465532432, 0.018339859465996557, 0.06906817063497311,
+      -0.9968529688349355, 0.02286934463860607, -0.07590225030113408, -0.012925461789829002,
+      -0.07629129832081094, -0.016647517728884998, 0.9969465873124757, 0.013021838608092437,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.19017898170828448, 0.0546719732148914, -0.2491419411107316, 0.10310283081793621]
+    distortion_type: equidistant
+    focal_length: [421.23561386503076, 421.4668948188076]
+    image_dimension: [960, 960]
+    principal_point: [467.746800268133, 484.4807401358835]

M_monado_datasets/MO_odyssey_plus/extras/calibration.kb4.yaml

@@ -0,0 +1,21 @@
+cameras:
+  - T_SC: [0.9174075807755737, 0.006647316356289734, -0.39789338260489987, -0.0836171207584613,
+      0.13777833942240095, 0.9327164187092706, 0.3332524740435679, -0.0019908210116357005,
+      0.37333692547284353, -0.36054943552224933, 0.8547652570285438, 0.005251507311936389,
+      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
+    distortion_coefficients: [0.07967334603430463, -0.028193800038563192, 0.20273128935703774,
+      -0.11691215909852215] # k1, k2, k3, k4
+    distortion_type: equidistant # kannalabrandt4 / opencv's fisheye
+    focal_length: [268.7643797200632, 268.6254278509791] # fx, fy
+    image_dimension: [640, 480] # width, height
+    principal_point: [322.99894365261827, 245.85420172532994] # cx, cy
+  - T_SC: [0.9183897385354933, 0.004662488271049342, 0.39564952844130963, 0.02184301895036105,
+      -0.15034835638878274, 0.929043591797278, 0.33804345322991297, -0.002049686931566472,
+      -0.3659995353602241, -0.3699408949326029, 0.853925098807012, 0.005005028649289218,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.05921598747583376, 0.0008485613746588702, 0.18691042621700857,
+      -0.11581177928178256]
+    distortion_type: equidistant
+    focal_length: [270.38245569848516, 270.8952605677133]
+    image_dimension: [640, 480]
+    principal_point: [322.59133920842345, 250.7654767124812]

M_monado_datasets/MO_odyssey_plus/extras/calibration.yaml

@@ -0,0 +1,23 @@
+cameras:
+  - T_SC: [0.9184477012197224, 0.006814501455941813, -0.3954837325277928, -0.08323388702651224,
+      0.1357078093951938, 0.9337332184585131, 0.3312486486255676, -0.002218366214987864,
+      0.3715335928194994, -0.35790479085507354, 0.8566603469810079, 0.005626638959664241,
+      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
+    distortion_coefficients: [0.4896735773708656, 0.15364417808237318, -0.00023052089722471787,
+      0.0003100581060316594, 0.00907202623907521, 0.760924032106806, 0.1699934621377647,
+      0.040322943929294] # k1, k2, p1, p2, k3, k4, k5, k6
+    distortion_type: radialtangential8 # Same as opencv's default model
+    focal_length: [269.3157388466649, 269.2500852335917] # fx, fy
+    image_dimension: [640, 480] # width, height
+    principal_point: [323.6367354444056, 245.37262901935367] # cx, cy
+  - T_SC: [0.9169473808337745, 0.004955465029392203, 0.3989773729779966, 0.022239747333591468,
+      -0.15123925026697327, 0.929626218566189, 0.3360383652695211, -0.002331785076783077,
+      -0.36923460016737975, -0.36847053765622934, 0.8531677870844424, 0.005312605812652759,
+      0.0, 0.0, 0.0, 1.0]
+    distortion_coefficients: [0.5124456275983791, 0.1183716939017548, 6.664706390223596e-05,
+      0.0008408430780571384, 0.011001285241218404, 0.7946602801800285, 0.1281440933685308,
+      0.039739477209162065]
+    distortion_type: radialtangential8
+    focal_length: [270.6592897084914, 270.6889084240239]
+    image_dimension: [640, 480]
+    principal_point: [323.6443046844411, 250.56110650729707]